Cat in RV....first time

The first few times I took my adopted stray cat in the motor home, when driving, I put him in a large wire dog crate with one of his cat beds and a soft rug. He would yowl for a few hours, then burrow under the rug. After about four trips I couldn't stand the noise anymore. I stopped at a rest stop and let him out of the crate. He strolled to the dinette and flopped down on a cushion. When I started the engine he rand to the bedroom and burrowed under the covers. That is now our routine, when I start the engine he burrows under the bed covers. When I stop for the night he comes out from under the covers and jumps on the dash to see where we are and what's out there. (I close him in the bathroom when the slides are going in or out.)